Measure Anything: Real-time, Multi-stage Vision-based Dimensional Measurement using Segment Anything

We present Measure Anything, a comprehensive vision-based framework for dimensional measurement of objects with circular cross-sections, leveraging the Segment Anything Model (SAM). Our approach estimates key geometric features -- including diameter, length, and volume -- for rod-like geometries with varying curvature and general objects with constant skeleton slope. The framework integrates segmentation, mask processing, skeleton construction, and 2D-3D transformation, packaged in a user-friendly interface. We validate our framework by estimating the diameters of Canola stems -- collected from agricultural fields in North Dakota -- which are thin and non-uniform, posing challenges for existing methods. Measuring its diameters is critical, as it is a phenotypic traits that correlates with the health and yield of Canola crops. This application also exemplifies the potential of Measure Anything, where integrating intelligent models -- such as keypoint detection -- extends its scalability to fully automate the measurement process for high-throughput applications. Furthermore, we showcase its versatility in robotic grasping, leveraging extracted geometric features to identify optimal grasp points.

Design of an All-Purpose Terrace Farming Robot

Automation in farming processes is a growing field of research in both academia and industries. A considerable amount of work has been put into this field to develop systems robust enough for farming. Terrace farming, in particular, provides a varying set of challenges, including robust stair climbing methods and stable navigation in unstructured terrains. We propose the design of a novel autonomous terrace farming robot, Aarohi, that can effectively climb steep terraces of considerable heights and execute several farming operations. The design optimisation strategy for the overall mechanical structure is elucidated. Further, the embedded and software architecture along with fail-safe strategies are presented for a working prototype. Algorithms for autonomous traversal over the terrace steps using the scissor lift mechanism and performing various farming operations have also been discussed. The adaptability of the design to specific operational requirements and modular farm tools allow Aarohi to be customised for a wide variety of use cases.